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   &#160;<span id="projectnumber">v0.1.0</span>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classBezier__1D-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">Bezier_1D Class Reference</div>  </div>
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<div class="contents">

<p>This class can be used to constructed a 1-dimensional Bezier curve.  
 <a href="classBezier__1D.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="bezier__1D_8h_source.html">bezier_1D.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a3dca1ff18fe9dd8fb31e582781dbbbe1"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBezier__1D.html#a3dca1ff18fe9dd8fb31e582781dbbbe1">factorial</a> (int num)</td></tr>
<tr class="memdesc:a3dca1ff18fe9dd8fb31e582781dbbbe1"><td class="mdescLeft">&#160;</td><td class="mdescRight">calculate the factorial of an interger  <a href="classBezier__1D.html#a3dca1ff18fe9dd8fb31e582781dbbbe1">More...</a><br /></td></tr>
<tr class="separator:a3dca1ff18fe9dd8fb31e582781dbbbe1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a494ac4b27916733740232e37d8da08fb"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBezier__1D.html#a494ac4b27916733740232e37d8da08fb">nchoosek</a> (int n, int k)</td></tr>
<tr class="memdesc:a494ac4b27916733740232e37d8da08fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">calculate the combination number n choose k or C_{n}^{k} = n! / (k!(n-k)!)  <a href="classBezier__1D.html#a494ac4b27916733740232e37d8da08fb">More...</a><br /></td></tr>
<tr class="separator:a494ac4b27916733740232e37d8da08fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f0a069e38bf26c79f1b545f62f6da04"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBezier__1D.html#a2f0a069e38bf26c79f1b545f62f6da04">getOut</a> (double s)</td></tr>
<tr class="memdesc:a2f0a069e38bf26c79f1b545f62f6da04"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value in s.  <a href="classBezier__1D.html#a2f0a069e38bf26c79f1b545f62f6da04">More...</a><br /></td></tr>
<tr class="separator:a2f0a069e38bf26c79f1b545f62f6da04"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a36e64027940c12bc42d9a0bf25cf6cbf"><td class="memItemLeft" align="right" valign="top"><a id="a36e64027940c12bc42d9a0bf25cf6cbf"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBezier__1D.html#a36e64027940c12bc42d9a0bf25cf6cbf">P</a></td></tr>
<tr class="memdesc:a36e64027940c12bc42d9a0bf25cf6cbf"><td class="mdescLeft">&#160;</td><td class="mdescRight">a sequence of number used to generate a one-dimesionanl Bezier curve <br /></td></tr>
<tr class="separator:a36e64027940c12bc42d9a0bf25cf6cbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This class can be used to constructed a 1-dimensional Bezier curve. </p>

<p class="definition">Definition at line <a class="el" href="bezier__1D_8h_source.html#l00016">16</a> of file <a class="el" href="bezier__1D_8h_source.html">bezier_1D.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a3dca1ff18fe9dd8fb31e582781dbbbe1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3dca1ff18fe9dd8fb31e582781dbbbe1">&#9670;&nbsp;</a></span>factorial()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double Bezier_1D::factorial </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>num</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>calculate the factorial of an interger </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">num</td><td>the interger to be calculated </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>double</dd></dl>
<dl class="section note"><dt>Note</dt><dd>positive integer required </dd></dl>

<p class="definition">Definition at line <a class="el" href="bezier__1D_8cpp_source.html#l00014">14</a> of file <a class="el" href="bezier__1D_8cpp_source.html">bezier_1D.cpp</a>.</p>

<p class="reference">Referenced by <a class="el" href="bezier__1D_8cpp_source.html#l00026">nchoosek()</a>.</p>

</div>
</div>
<a id="a2f0a069e38bf26c79f1b545f62f6da04"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2f0a069e38bf26c79f1b545f62f6da04">&#9670;&nbsp;</a></span>getOut()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double Bezier_1D::getOut </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>s</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get the value in s. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">s</td><td>phase variable of the curve, should in [0, 1] </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

<p class="definition">Definition at line <a class="el" href="bezier__1D_8cpp_source.html#l00032">32</a> of file <a class="el" href="bezier__1D_8cpp_source.html">bezier_1D.cpp</a>.</p>

<p class="reference">References <a class="el" href="bezier__1D_8cpp_source.html#l00026">nchoosek()</a>, and <a class="el" href="bezier__1D_8h_source.html#l00019">P</a>.</p>

<p class="reference">Referenced by <a class="el" href="foot__placement_8cpp_source.html#l00066">FootPlacement::Trajectory()</a>.</p>

</div>
</div>
<a id="a494ac4b27916733740232e37d8da08fb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a494ac4b27916733740232e37d8da08fb">&#9670;&nbsp;</a></span>nchoosek()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double Bezier_1D::nchoosek </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>n</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>k</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>calculate the combination number n choose k or C_{n}^{k} = n! / (k!(n-k)!) </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">n</td><td></td></tr>
    <tr><td class="paramname">k</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>double</dd></dl>
<dl class="section note"><dt>Note</dt><dd>positive integer required </dd></dl>

<p class="definition">Definition at line <a class="el" href="bezier__1D_8cpp_source.html#l00026">26</a> of file <a class="el" href="bezier__1D_8cpp_source.html">bezier_1D.cpp</a>.</p>

<p class="reference">References <a class="el" href="bezier__1D_8cpp_source.html#l00014">factorial()</a>.</p>

<p class="reference">Referenced by <a class="el" href="bezier__1D_8cpp_source.html#l00032">getOut()</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="bezier__1D_8h_source.html">bezier_1D.h</a></li>
<li><a class="el" href="bezier__1D_8cpp_source.html">bezier_1D.cpp</a></li>
</ul>
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